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Impact of mobility and MAC scheduling on positioning with UWB BAN - - PowerPoint PPT Presentation

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Impact of mobility and MAC scheduling on positioning with UWB BAN Cooperative Communications in Body Area Networks CORMORAN project - ANR Arturo Guizar Claire Goursaud Jean-Marie Gorce Context WSN vs WBAN -> different localization

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Impact of mobility and MAC scheduling

  • n positioning with UWB BAN

Arturo Guizar Claire Goursaud Jean-Marie Gorce

Cooperative Communications in Body Area Networks CORMORAN project - ANR

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Context

WSN vs WBAN

  • > different localization constraints
  • On-Body, Body-to-Body, …

Figure 1: Motion Capture and Navigation Group Scenarios

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Context

WSN vs WBAN

  • > different localization constraints
  • On-Body, Body-to-Body, …

Figure 1: Motion Capture and Navigation Group Scenarios

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Related Work

There are no proposals for MAC design considering:

  • MAC scheduling impact on positioning estimation
  • under realistic mobility for WBAN scenarios
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Context

1. Introduction 2. System Model

  • Network Topology
  • Localization Assumptions

3. Ranging estimation constraints

  • 3-WR packets delays
  • MAC strategies

4. MAC Scheduling for accurate positioning

  • Mobility Model
  • Simulation parameters
  • Results: Impact on positioning estimation

5. Scheduling for Motion Capture

  • Simulation parameters
  • Results: Performance for Motion Capture

6. Conclusion

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Network Topology

Mesh IR-UWB WBAN - full connectivity [Hamie2013]

  • n-body mobile nodes (i = 1…N )
  • n-body anchor nodes (j = 1…M)

NT = N + M A set of anchors define a Local Coordinate System (LCS) to localize nodes under mobility.

Figure 3: Yoga Scenario

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Network Topology

Mesh IR-UWB WBAN - full connectivity [Hamie2013]

  • n-body mobile nodes (i = 1…N )
  • n-body anchor nodes (j = 1…M)

NT = N + M A set of anchors define a Local Coordinate System (LCS) to localize nodes under mobility.

LCS

Figure 3: Yoga Scenario

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Localization Assumptions

Ranging Three-Way Ranging (3WR) protocol

  • Request (Qij )
  • Response packets (Rij and Sij )

Positioning Time Difference of Arrival (TDOA + LLS) technique for Positioning estimation P’i (t) [Xiao2010]

  • j ≥ 4 anchors for distributed localization

(multilateration) Figure 4: Ranging estimation with 3WR

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Ranging estimation constraints

1) Impact on ranging: 1 mobile node → 1 anchor, using TOA In our previous work [Guizar2014], we show that the time to send the first response Δt1 has more impact on ranging estimation than the time taken for the second response Δt2.

Arturo Guizar, Anis Ouni, Claire Goursaud. "Impact of Mobility on Ranging Estimation using UltraWideband, " ACM SIGCOMM 2014 conference, Aug 2014, Chicago, United States.

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Ranging estimation constraints

1) Impact on ranging: 1 mobile node → 1 anchor, using TOA 2) Impact on Positioning: 1 mobile node → M anchors, with TDOA 3) Impact on Posture: N mobile nodes → M anchors, set of positions Figure 5: Error on Ranging estimation with TDOA (static node vs mobile node)

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Scheduling for accurate positioning

First contribution: Scheduling strategies to increase the positioning accuracy of 1 mobile node in a WBAN Network Topology: 1 mobile node → M anchors, using TDOA We introduce the Broadcast case on the Request Packet for the Best Strategy of the study

All requests first Ordered transaction Three period order Priority for Response 1

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Simulation tools and parameters

Discrete-event simulation approach using the WSNet simulator http://wsnet.gforge.inria.fr/

  • Physical (PHY) Layer based on the IEEE802.15.6 PHY UWB
  • Default mode (OOK modulation, data rate 0.4875 Mbps) [Niemelä2013]
  • Line of Sight (LOS) channel without packet loss.
  • The radio is capable detect the 1st path of IR-UWB
  • Medium Access Control (MAC) Layer based on the TDMA protocol and we assume that it

is beacon enabled. Impact on positioning estimation with the Root Mean Square Error (RMSE): Nf is the number of frames during the simulation Prefi (t) is a reference position

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Mobility Model

Realistic scenario - CORMORAN measurement campaign 2014 Human body movements have been captured on an area of 10 x 6 m using a system based

  • n a Vicon Mx40 at 100Hz.

Vicon -> PyLayers Mobility Model -> WSNet node's position http://pylayers.github.io/pylayers/

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Impact on positioning estimation

Parameters of simulation:

  • 1 mobile node (right wrist) and 4 anchors
  • Realistic (Right Front Chest, Left Front Chest, Left hip, Back Chest)

Speed Factor x(1-10) to accelerate the Human body movement

  • We compare P’i (t) with the real position at the end of the frame P’final i (t)
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Impact on Positioning estimation

S1: All request first S2: Ordered transaction S3: Three period order S4: Priority for Response 1

  • S1 and S2 give better positioning

estimation than S3 and S4

  • B-S1 reduce error
  • n positioning and delay

(GainBroadcast = (M-1)*N , 3 slots in our case)

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Discussion

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Other ranging issues

  • Impact of 3-WR scheduling for Motion Capture
  • Impact of the nodes resource allocation
  • Quantifying the ranging error related to the mobility and

the channel effects

  • 3-WR delays with aggregated & cooperative strategies
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References

  • A. Guizar, A. Ouni, C. Goursaud, C. Chaudet, and J. Gorce, “Quantifying the Impact of Scheduling and Mobility
  • n IR-UWB Localization in Body Area Networks,” in 12th IEEE International Conference on Body Sensor

Networks, MIT, Cambridge, USA, 2015.

  • A. Guizar, A. Ouni, C. Goursaud, N. Amiot, and J. Gorce, “Impact of MAC scheduling on positioning accuracy for

motion capture with UWB body area networks,” in 9th International Conference on Body Area Networks, London, 2014.

  • B. Denis, N. Amiot, B. Uguen, A. Guizar, C. Goursaud, A. Ouni, and C. Chaudet, “ Qualitative Analysis of RSSI

Behavior in Cooperative Wireless Body Area Networks for Mobility Detection and Navigation Applications,” in 21st IEEE International Conference on Electronics Circuits and Systems, (Marseille, France), Dec. 2014.

  • A. Guizar, A. Ouni, C. Goursaud, and J.M. Gorce, “Proposition d’ordonnancement pour une meilleure

localisation de nœuds mobiles dans les Réseaux Corporels sans fils avec ULB, “ In 17èmes Rencontres Francophones sur les Aspects Algorithmiques de Télécommunications (AlgoTel), Baune, France, 2015

  • A. Guizar, A. Ouni, and C. Goursaud, “Impact of mobility on ranging estimation using Ultra Wideband, “ in

Proceedings of the Fourth Networking Networking Women Workshop

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Ongoing Work

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Thanks for your attention

Arturo M. J. Guizar http://www.pylayers.org/cormoran

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Localization constraints

Among all the problems …

  • Physical Layer
  • Synchronization
  • Data Stream
  • Maximize Channel Utilization
  • Real-Time
  • Off-line analysis applications

My main interest:

  • Protocol design at MAC layer
  • Network configuration
  • QoS (latency, precision)

Figure 2: Ranging estimation with UWB